void RangerDistanceChangedEvent(object sender, RangerSensorEventArgs e)
{
//Debug.WriteLine("Ranger: " + e.Name + " RangeMeters=" + e.RangeMeters);
lock (currentSensorsDataLock)
{
SensorsData sensorsData = new SensorsData(this.currentSensorsData);
switch (e.Name)
{
case "IrLeft":
sensorsData.IrLeftMeters = e.RangeMeters[0];
sensorsData.IrLeftMetersTimestamp = e.TimeTicks;
break;
case "IrRight":
sensorsData.IrRightMeters = e.RangeMeters[0];
sensorsData.IrRightMetersTimestamp = e.TimeTicks;
break;
case "IrFront":
sensorsData.IrFrontMeters = e.RangeMeters[0];
sensorsData.IrFrontMetersTimestamp = e.TimeTicks;
break;
case "IrRear":
sensorsData.IrRearMeters = e.RangeMeters[0];
sensorsData.IrRearMetersTimestamp = e.TimeTicks;
break;
case "SonarLeft":
sensorsData.RangerFrontLeftMeters = e.RangeMeters[0];
sensorsData.RangerFrontLeftMetersTimestamp = e.TimeTicks;
break;
case "SonarRight":
sensorsData.RangerFrontRightMeters = e.RangeMeters[0];
sensorsData.RangerFrontRightMetersTimestamp = e.TimeTicks;
break;
}
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
private void RangerDistanceChangedEvent(object sender, RangerSensorEventArgs e)
{
//Debug.WriteLine("Ranger: " + e.Name + " RangeMeters=" + e.RangeMeters);
lock (currentSensorsDataLock)
{
SensorsData sensorsData = new SensorsData(this.currentSensorsData);
switch (e.Name)
{
case "ParkingSonar":
sensorsData.RangerFrontRightMeters = e.RangeMeters[0];
sensorsData.RangerFrontLeftMeters = e.RangeMeters[1];
sensorsData.RangerRearRightMeters = e.RangeMeters[2];
sensorsData.RangerRearLeftMeters = e.RangeMeters[3];
sensorsData.RangerFrontRightMetersTimestamp = sensorsData.RangerFrontLeftMetersTimestamp =
sensorsData.RangerRearRightMetersTimestamp = sensorsData.RangerRearLeftMetersTimestamp = e.TimeTicks;
break;
default:
throw new NotImplementedException("Error: RangerDistanceChangedEvent: unknown name " + e.Name);
}
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
